From 5987a42681f878588fe07028360b65f8f70df0f2 Mon Sep 17 00:00:00 2001
From: kjunge <kai.junge@epfl.ch>
Date: Sat, 22 Jan 2022 03:57:30 +0100
Subject: [PATCH] Big changes to improve functionality
---
comms_wrapper.py | 42 ++++++++++++++----
comms_wrapper_example.py | 48 ---------------------
comms_wrapper_test_ground.py | 36 ++++++++++++++++
pyComms/pyComms.ino | 51 ++++++----------------
pyComms/pyCommsLib.cpp | 84 +++++++++++++++++++++++-------------
pyComms/pyCommsLib.h | 9 +++-
6 files changed, 143 insertions(+), 127 deletions(-)
delete mode 100644 comms_wrapper_example.py
create mode 100644 comms_wrapper_test_ground.py
diff --git a/comms_wrapper.py b/comms_wrapper.py
index 49ceb6f..b8798d2 100644
--- a/comms_wrapper.py
+++ b/comms_wrapper.py
@@ -1,3 +1,4 @@
+from tabnanny import verbose
import serial
import serial.tools.list_ports
from threading import Thread
@@ -20,6 +21,7 @@ class Arduino:
self.messageNames = list(self.receivedMessages.keys())
self.arduino = None
self.handshakeStatus = False
+ self._echo_python_msg = None
# Private methods
@@ -82,10 +84,14 @@ class Arduino:
msgName = singleMsg.split(";")[0]
msgPayload = singleMsg.split(";")[1]
- if msgName not in self.messageNames:
- return False
-
- receivedMessageTemp[msgName] = msgPayload
+
+ if msgName == "echo_python":
+ self._echo_python_msg = msgPayload
+ else:
+ if msgName not in self.messageNames:
+ return False
+
+ receivedMessageTemp[msgName] = msgPayload
else:
return False
@@ -147,6 +153,10 @@ class Arduino:
if self.handshakeStatus:
print("Successfull handshake with " + self.descriptiveDeviceName)
+ while 1:
+ self.receive_message()
+ if self._echo_python_msg == "NO_PYTHON_MESSAGE":
+ break
else:
print("!! Handshake failed with " + self.descriptiveDeviceName + " !!")
@@ -161,7 +171,7 @@ class Arduino:
self._serial_write( msg + "\n")
- def receive_message(self, showOutput = False, verbose = False):
+ def receive_message(self, printOutput = False, verbose = False):
if not self.handshakeStatus:
print("!! Handshake not completed !!")
return False
@@ -181,15 +191,31 @@ class Arduino:
else:
pass
- if showOutput:
+ if printOutput:
if verbose:
- print("Raw message received: ", self._rawReceivedMessage, " | Segmented message: ", self.receivedMessages)
+ print("----------------------")
+ print("Raw message received on python side: ", self._rawReceivedMessage)
+ print("What python received from the arduino: ", self.receivedMessages)
+ print("What the arduino received from python: ", self._echo_python_msg, "\n")
else:
- print("Received: ", self.receivedMessages)
+ print("What python received from the arduino: ", self.receivedMessages)
time.sleep(0.000001)
return True
+ def debug(self, verbose = False):
+ if verbose:
+ self.receive_message(printOutput=True, verbose = True)
+ else:
+ print("----------------------")
+ self.receive_message(printOutput=True)
+ print("What the arduino received from python: ", self._echo_python_msg, "\n")
+
+
+ for key, value in self.receivedMessages.items():
+ if value is None:
+ print("Check if message name: ", key, " agrees with the arduino side")
+
########
### Key commands
diff --git a/comms_wrapper_example.py b/comms_wrapper_example.py
deleted file mode 100644
index 564c1a8..0000000
--- a/comms_wrapper_example.py
+++ /dev/null
@@ -1,48 +0,0 @@
-from comms_wrapper import *
-
-def main():
- # Define keyboard instance to use key commands easily
- key = Key()
-
- # Define arduino1 instance
- arduino1 = Arduino(descriptiveDeviceName="Uno 1", portName="/dev/ttyACM0", baudrate=115200)
- arduino2 = Arduino(descriptiveDeviceName="Uno 2", portName="/dev/ttyACM1", baudrate=115200)
- arduinos = [arduino1, arduino2]
-
- # This defines the messages sent from the arduino1 to the python side
- # The names must match exactly between the arduino1 and python side
- for arduino in arduinos:
- arduino.add_new_message_name("item1")
- arduino.add_new_message_name("item2")
- arduino.add_new_message_name("item3")
-
- # Connects with the arduino1 and does the handshake to start void loop()
- arduino.connect_and_handshake()
-
-
- # Your loop or process to do somthing
- while 1:
-
- # Receive messages from arduino side
- for arduino in arduinos:
- if arduino.receive_message():
- print("For :", arduino.descriptiveDeviceName, " msg: ", arduino.receivedMessages)
-
- # simple key commands for testing
- if key.keyPressValue == "t":
- arduino1.send_message("On")
-
- if key.keyPressValue == "f":
- arduino1.send_message("Off")
-
- if key.keyPressValue == "y":
- arduino2.send_message("On")
-
- if key.keyPressValue == "n":
- arduino2.send_message("Off")
-
- time.sleep(0.2)
-
-if __name__ == '__main__':
- main()
-
\ No newline at end of file
diff --git a/comms_wrapper_test_ground.py b/comms_wrapper_test_ground.py
new file mode 100644
index 0000000..8a2061e
--- /dev/null
+++ b/comms_wrapper_test_ground.py
@@ -0,0 +1,36 @@
+from re import A
+from tabnanny import verbose
+from comms_wrapper import *
+
+def main():
+ # Define keyboard instance to use key commands easily
+ key = Key()
+
+ # Define arduino1 instance
+ arduino1 = Arduino(descriptiveDeviceName="Uno 1", portName="/dev/ttyACM0", baudrate=115200)
+
+ # This defines the messages sent from the arduino1 to the python side
+ # The names must match exactly between the arduino1 and python side
+ arduino1.define_message_names(["msgA", "msgB", "msgC"])
+
+ # Connects with the arduino1 and does the handshake to start void loop()
+ arduino1.connect_and_handshake()
+
+
+ # Your loop or process to do somthing
+ while 1:
+ # Receive messages from arduino side
+ arduino1.debug()
+
+ if key.keyPressValue == "f":
+ arduino1.send_message("yes")
+
+ if key.keyPressValue == "g":
+ arduino1.send_message("no")
+
+
+ time.sleep(0.2)
+
+if __name__ == '__main__':
+ main()
+
\ No newline at end of file
diff --git a/pyComms/pyComms.ino b/pyComms/pyComms.ino
index 7cc0304..d56c95f 100644
--- a/pyComms/pyComms.ino
+++ b/pyComms/pyComms.ino
@@ -1,24 +1,12 @@
#include "pyCommsLib.h"
+
/*
* Variables for you need to define for this program to work
*/
+String msgName[] = {"msgA", "msgB", "msgC"};
+String dataCarrier[3];
-// An array of strings containing the names of the variables
-// which the Arduino will send to python
-// you will need to define the same name on the python side
-String msgName[] = {"item1", "item2", "item3"};
-
-// An array of strings which will be the payload
-// Each element corresponds to the message defined in msgName
-// Make sure the array length of msgName and Data match
-String dataCarrier[] = {"Null", "Null", "Null"};
-
-// The length of the msgName and Data array
-const int numOfMsg = 3;
-
-// Define the string where the recieved message will be captured
-String rawMsg = "NULL";
void setup() {
@@ -32,23 +20,6 @@ void setup() {
void loop() {
- ////////////////////
- // RECEIVING DATA
- ////////////////////
-
- // Receive messages from python.
- // Just copy and paste this
- rawMsg = recieve_msg(rawMsg);
-
- // An example of how you might want to use the message received from python/
- /*
- * if(rawMsg == "blah") {
- * // do something
- * }
- */
-
-
-
////////////////////
// SENDING DATA
////////////////////
@@ -59,13 +30,17 @@ void loop() {
This can be easilly done by doing String(whatever) - see Data[1] = String(20);
*/
- Data[0] = "a";
- Data[1] = String(20);
- Data[2] = rawMsg;
- // The send command. Just copy and paste this.
- send_msg(msgName, Data, numOfMsg);
+ dataCarrier[0] = "Some message";
+ dataCarrier[1] = String(3);
+ dataCarrier[2] = received_msg();
- // this delay is not necessary - it's only to show that even with a delay this process works.
+
+ // The send command. Just copy and paste this.
+ load_msg_to_python(msgName, dataCarrier, size_of_array(msgName));
+
+ // this delay is not necessary to have here - it's only to show that even with a delay this process works.
delay(100);
+
+ sync();
}
diff --git a/pyComms/pyCommsLib.cpp b/pyComms/pyCommsLib.cpp
index d5fd277..fa396a3 100644
--- a/pyComms/pyCommsLib.cpp
+++ b/pyComms/pyCommsLib.cpp
@@ -1,61 +1,83 @@
#include "pyCommsLib.h"
#include "Arduino.h"
+#define size_of_array(arr) sizeof(arr) / sizeof(*arr)
-void send_msg(String* msgName, String* msg, int numOfMsg) {
- // If we have the same number of data compared to the message
- String payload = "<";
+String rawMsgFromPython = "NO_PYTHON_MESSAGE";
+String payload = "";
- for(int i = 0; i < numOfMsg; i++) {
+void load_msg_to_python(String* msgName, String* msg, int numOfMsg) {
+ // If we have the same number of data compared to the message
+ payload = "";
+
+ for (int i = 0; i < numOfMsg; i++) {
payload.concat(msgName[i]);
payload.concat(";");
payload.concat(msg[i]);
payload.concat(":");
}
+}
- payload.concat(">");
+void receive_msg_from_python() {
+
+ String msg = "";
+
+ while (Serial.available()) {
+ if (Serial.available()) {
+ msg = Serial.readStringUntil('\n');
+ }
+ }
+
+ if (msg != "") {
+ rawMsgFromPython = msg;
+ }
- Serial.println(payload);
-
}
-String recieve_msg(String prevMsg) {
-
- String msg = "";
- while(Serial.available()) {
- if(Serial.available()) {
- msg = Serial.readStringUntil('\n');
- }
- }
-
- if(msg == "") {
- msg = prevMsg;
- }
-
- return msg;
+String received_msg() {
+ return rawMsgFromPython;
}
+void init_python_communication() {
-void init_python_communication() {
-
- while(true){
+ while (true) {
// if the python side sent a message
- if(Serial.available() > 0) {
- String rawMsg = Serial.readStringUntil('\n');
- if(rawMsg == "handshake1") {
+ if (Serial.available() > 0) {
+ String rawMsgFromPython = Serial.readStringUntil('\n');
+ if (rawMsgFromPython == "handshake1") {
break;
}
}
}
long timer = millis();
- while(millis() - timer < 1000) {
+ while (millis() - timer < 1000) {
Serial.println("handshake2");
}
-
- while(Serial.available()) {
+
+ while (Serial.available()) {
Serial.read();
- }
+ }
+}
+
+
+void echo_python() {
+ String echo = "<echo_pytyon;";
+ echo.concat(received_msg());
+ echo.concat(":>");
+
+ Serial.println(echo);
+}
+
+
+void sync() {
+ receive_msg_from_python();
+ String final_payload = "<echo_python;";
+ final_payload.concat(received_msg());
+ final_payload.concat(":");
+ final_payload.concat(payload);
+ final_payload.concat(">");
+ Serial.println(final_payload);
}
diff --git a/pyComms/pyCommsLib.h b/pyComms/pyCommsLib.h
index 3a94955..1da9eb6 100644
--- a/pyComms/pyCommsLib.h
+++ b/pyComms/pyCommsLib.h
@@ -1,12 +1,17 @@
#ifndef PYCOMMSLIB_H
#define PYCOMMSLIB_H
+#define size_of_array(arr) sizeof(arr) / sizeof(*arr)
+
+
#include <Arduino.h>
-void send_msg(String* msgName, String* msg, int numOfMsg);
+void load_msg_to_python(String* msgName, String* msg, int numOfMsg);
-String recieve_msg(String prevMsg);
+String received_msg();
void init_python_communication();
+void sync();
+
#endif
--
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